南京邮电大学 毕 业 设 计（论 文）
题 目 专 业 学生姓名班级学号指导教师指导单位
伺服电机控制系统 电气工程及其自动化
zhdong B07050405
自动化学院
2011 年 3 月至2011 年 6月
日期： 目录
目录 ............................................................................................................................................. I 第1章 绪论 ........................................................................................................................- 1 -
1.1 直流伺服电动机发展及现状 .................................................................................- 1 - 1.2直流伺服电动机的特点及应用 ..............................................................................- 1 -
1.2.1直流伺服电动机的特点 ...............................................................................- 1 - 1.2.2 直流伺服电动机的应用 ..............................................................................- 2 - 1.3 课题主要研究内容 .................................................................................................- 3 - 第2章 直流伺服电动机的工作过程 ................................................................................- 4 -
2.1 直流伺服电动机基本组成 .....................................................................................- 4 -
2.1.1电动机本体 ...................................................................................................- 4 - 2.1.2 转子位置传感器 ..........................................................................................- 5 - 2.1.3电子换向电路 ...............................................................................................- 6 - 2.2 直流伺服电动机的工作原理 .................................................................................- 7 - 2.3 直流伺服电动机的数学模型 .................................................................................- 8 -
2.3.1电压平衡方程 ...............................................................................................- 8 - 2.3.2转矩方程 .......................................................................................................- 9 - 2.3.3传递函数 .....................................................................................................- 10 - 2.4 直流伺服电动机的调速方法 ...............................................................................- 10 -
2.4.1电势和调速方法 .........................................................................................- 10 - 2.4.2电磁转矩 ..................................................................................................... - 11 - 2.5直流伺服电动机双闭环系统 ................................................................................- 12 -
2.5.1双闭环控制系统组成 .................................................................................- 12 - 2.5.2双闭环控制系统动态数学模型 .................................................................- 13 - 第3章 调速系统方案确定 ..............................................................................................- 15 -
3.1无刷电机样机参数 ................................................................................................- 15 - 3.2主控单元 ................................................................................................................- 15 -
3.2.1 80C196MC单片机简介 .............................................................................- 15 - 3.2.2 80C196MC单片机的结构 .........................................................................- 15 - 3.2.2 80C196MC单片机的特点 .........................................................................- 17 - 3.3 系统的组成 ...........................................................................................................- 18 - 第4章 基于单片机的调速系统硬件设计 ......................................................................- 19 -
4.1 供电电源设计 .......................................................................................................- 19 - 4.2 检测电路设计 .......................................................................................................- 20 -
4.2.1位置检测 .....................................................................................................- 20 - 4.2.2整形电路 .....................................................................................................- 22 - 4.2.3 正反转控制 ................................................................................................- 22 - 4.2.4电流检测电路 .............................................................................................- 23 - 4.3 主功率和驱动电路 ...............................................................................................- 24 -
4.3.1主功率电路 .................................................................................................- 24 -
4.3.2功率驱动电路 .............................................................................................- 26 - 4.4 过流过压保护电路 ...............................................................................................- 29 -
4.4.1过流保护电路 .............................................................................................- 29 - 4.4.2过压、欠压保护电路 .................................................................................- 30 - 4.5 键盘与显示电路 ...................................................................................................- 30 -
4.5.1键盘电路 .....................................................................................................- 30 - 4.5.2显示电路 .....................................................................................................- 31 - 第5章 基于单片机的调速系统软件设计 ....................................................................- 33 -
5.1 程序设计思想 .......................................................................................................- 33 - 5.2 主程序 ...................................................................................................................- 33 -
5.2.1 初始化程序 ................................................................................................- 34 - 5.2.2 键处理程序设计 ........................................................................................- 36 - 5.2.3 LED动态显示子程序 ................................................................................- 37 - 5.3 捕捉中断服务程序 ...............................................................................................- 38 - 5.4 采样中断服务程序 ...............................................................................................- 39 -
5.4.1转速计算子程序 .........................................................................................- 40 - 5.4.2 A/D转换子程序 .........................................................................................- 40 - 5.4.3 波形发生控制程序 ....................................................................................- 42 - 参考文献 ..............................................................................................................................- 45 - 致谢 ......................................................................................................................................- 47 -
基于80C196MC单片机直流伺服电机调速系统硬件设计
基于80C196MC单片机直流伺服电机调速系统
摘要
本文主要论述三相直流伺服电机调速系统的设计方法。主控单元为伺服电机专用控制芯片80C196MC，辅以键盘、显示器、检测电路、功率电路、驱动电路、保护电路等。直流伺服电机内置3个霍尔传感器，用于检测转子的位置，决定电机的换相，系统根据该信号计算电机的转速，用于实现速度反馈控制。
系统给定转速由键盘输入，并能实时显示转速；功率芯片选用性能价格比较高的快速MOSFET；功率驱动选用带保护电路和过流输出的集成芯片IR2130，可实现电机的高频快速起动；系统还设置了电流采样电路，与速度反馈电路组成双闭环系统，可以实现电机的快速起动并获得良好的带负载性能，达到了设计任务书的要求。
软件方面根据直流伺服电动机的组成、脉宽调制和工作原理，结合80C196MC的硬件部分和软件编程的特点，设计了无刷直流调速系统的软件。系统软件分为主程序和中断程序两大主块，主程序完成系统的初始化， LED显示器扫描和键盘功能处理程序等部分。
关键字：直流伺服电动机；16位单片机；位置传感器；闭环系统；MOSFET；功率驱动
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基于80C196MC单片机直流伺服电机调速系统硬件设计
The designations of the BLDCM velocity modulation system based
on the 80C196MC single chip microcomputer
Abstract
This article mainly discusses the designations of three-phase BLDCM velocity modulation system. The master controlled unit is BLDCM special-purpose control chip 80C196MC, assistances with the keyboard, the monitor, examines the electric circuit, the power electric circuit, actuates the electric circuit, the protection circuit and so on. The BLDCM with 3 Hall sensors establishing inside, to exam the position of the rotor and decide the phase change of electrical machinery, the system calculates the rotational speed of the electrical machinery to realize the velocity-feedback control according to the Hall signal.
The rotational speed of the system is offered by the keyboard entry, and the real-time rotational speed can be display; The power chip selects higher performance-to-price ratio and faster MOSFET; The power actuation selects the integrated chip IR2130 with protection circuit and over-electric current output , which can realize the electrical machinery’s high-frequency and quick-starting; The system also has established the electric current sampling electric circuit, with the velocity feedback electric circuit constituting the doubling closed-loop system, which can realize the electrical machinery quick- starting and obtain the good load performance, has met the requirements of the design project.
Software is painted as a direct motor of the modulation, a wide and principle, the hardware and software 80c196mc programming, design the system of the dc machinery velocity modulation. in software system software application programs, and the two great and complete system of the main program initialization, led display the functions of the processing procedures with the keyboard.
Keywords: Brushless DC Motor; 6bit Single-chip Microcomputer; Position sensors; Closed-loop system; MOSFET; Power actuation.
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